Method and apparatus for multi-system remote surgical navigation from a single control center

ABSTRACT

A system and method are provided for performing remote surgical navigation in multiple systems from a single control center, where there are at least two remote navigation systems in separate procedure rooms having respective control computers. The system includes a Control Center separate from each procedure room that has a set of displays and interface input devices. A switch may also be included for connecting the Control Center to the set of displays, interface input devices, and remote navigation systems. A method is provided for performing multiple simultaneous remote medical procedures that includes displaying information transmitted from a remote navigation system to the Control Center, and accepting user input from a remote navigation system. The method provides for establishing an encryption key with the remote system, converting the user input to a script data and encrypting the data. The transmitted script command is then transmitted to the remote navigation system.

CROSS-REFERENCE TO RELATED APPLICATIONS

This a divisional application of U.S. patent application Ser. No.11/672,358, filed Feb. 7, 2007, which is now U.S. Pat. No. 7,818,076,which issues Oct. 19, 2010, which is a continuation-in-part of U.S.patent application Ser. No. 11/484,883, filed Jul. 11, 2006, whichapplication claims the benefit of U.S. Provisional Patent ApplicationSer. No. 60/702,486, filed Jul. 26, 2005, the entire disclosure of whichis incorporated herein by reference.

FIELD

The present invention relates to the medical procedures which utilizenavigation of medical devices within a subject body, and morespecifically to remotely performing medical procedures utilizingnavigation of medical devices in a subject body.

BACKGROUND

Navigation systems have been commercially developed recently foractuation of medical devices to be steered within a patient's anatomy,from a remote location nearby the patient. An example is the Niobemagnetic navigation system developed and sold by Stereotaxis, Inc. Sucha system typically allows for control of the navigation of a minimallyinterventional device with the help of a Graphical User Interface anduser input devices such as a mouse, keyboard, joystick or other form ofinterface input device.

While the use of such a remote navigation system can bring higherefficiencies to the Catheter Lab where it is installed, at centers wherea larger volume of cases are typically performed, it is advantageous toinstall and use more than one remote navigation system. However,controls for each navigation system are costly, and a physician withsignificant expertise in such systems may not be available for everynavigation system and patient.

SUMMARY

The present invention describes methods and apparatus details for thefunctioning of a Control Center from which multiple remote navigationsystems could be controlled simultaneously or nearly simultaneously. Theability to perform multiple procedures simultaneously from a singleintegrated Control Center is advantageous. There are significantpotential benefits in terms of cost and time savings with such a singleControl Center. Likewise, an expert physician could control and performa procedure at a distant site, possibly thousands of kilometers away, oreven at multiple distant sites, from such an integrated Control Center.Such a scenario will result in cost and time savings, as well as expertcare for a patient who might otherwise not have access to suitableexpert physicians.

In accordance with one aspect of the invention, various embodiments areprovided of a system for performing remote surgical navigation inmultiple systems from a single control center, where there are at leasttwo remote navigation systems in separate procedure rooms. The at leasttwo remote navigation systems each include respective control computers.The system further includes a Control Center that is physicallyseparated by at least 5 meters from each procedure room, the ControlCenter having a set of displays and interface input devices. A switchmay also be included for connecting the set of displays and interfaceinput devices to the Control Center, and also for connecting to each ofaforesaid remote navigation systems by means of communication links. Theswitch may include user-selectable settings for selecting and routinginteraction between the set of displays and interface input devices andany one of the remote navigation systems.

In another aspect of the present invention, one embodiment of a methodis provided for performing multiple simultaneous remote medicalinterventional procedures on any of a set of remote navigation systemsfrom a single, physically distant Control Center. The method includesthe step of displaying information that is transmitted over a link fromany of the remote navigation systems to the Control Center. The methodalso includes receiving or accepting user input into the Control Centercomputer, and establishing an encryption key between the Control Centercomputer and the remote navigation system computer. The Control Centerconverts the user input data to a pre-determined data stream format, andthen encrypts this data on the Control Center computer. The ControlCenter further transmits the encrypted data over a link from the ControlCenter computer to a computer at the remote navigation system site. Thetransmitted data received by the remote systems is then decrypted andconverted to a set of pre-determined script commands corresponding tomedical device control and user interaction elements. The decryptedpre-determined script commands may then be transmitted to the remotenavigation system control computer via a local, standard Ethernet link.Alternatively, the script commands may be transmitted to the remotenavigation system control computer via a local, standard USB cable link.

Further areas of applicability of the present invention will becomeapparent from the detailed description provided hereinafter. It shouldbe understood that the detailed description and specific examples, whileindicating the preferred embodiment of the invention, are intended forpurposes of illustration only and are not intended to limit the scope ofthe invention.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will become more fully understood from thedetailed description and the accompanying drawings, wherein:

FIG. 1 shows a schematic of a Multi-System Control Center capable oflinking to remote location sites.

FIG. 2 shows a schematic of one embodiment of a method of command datatransmission from a Multi-System Control Center for execution at anon-site remote navigation system.

DETAILED DESCRIPTION

The following description of the various embodiments is merely exemplaryin nature and is in no way intended to limit the invention, itsapplication, or uses.

In some embodiments, each remote navigation system is installed in itsown procedure room. At sites where there are multiple such systems atthe same clinical facility, other embodiments comprise remote navigationsystems that are installed in adjacent rooms so that economies of scalecould result in net installation costs that are lower. In oneembodiment, a system is provided for performing multiple simultaneousremote medical interventional procedures from a single Control Centerwhere at least two remote navigation systems are included. The at leasttwo remote navigation systems are in separate procedure rooms, and haverespective control computers for each remote navigation system. Thesystem includes a Control Center that is physically separated by atleast 5 meters from each procedure room. The Control Center has a set ofat least one display and at least one interface input devicecorresponding to each of aforesaid remote navigation systems that arerespectively connected to the respective control computers of the remotenavigation systems by means of corresponding communication links. Thesystem may further include a switch connected to the set of displays andinterface input devices in the Control Center. The switch is alsoconnected to each of aforesaid remote navigation systems by means ofcommunication links, and has user-selectable settings for selecting androuting interaction between the set of displays and interface inputdevices and any one of the remote navigation systems. The communicationlink in the system may be a physical connection that comprises opticalfibers, or alternatively copper conductors. The communication link mayalso be a wireless connection, and may employ a portion of theelectromagnetic spectrum of the individual navigation systems forestablishing wireless communication.

In some embodiments, the switch of the system may also accept inputsfrom audio channels for each remote navigation system, to provide fortwo-way audio communication between the Control Center and eachprocedure room. System selection on the switch unit automatically routesthe two-way audio signals from the appropriate procedure room to theControl Center. The system may further include a means to indicate thatcommunication is awaited by a procedure room different from the onecurrently selected is passed along to the user.

The switch connecting the set of interface input devices to the ControlCenter also enables the Control Center to provide master/slavearrangement for control of various remote navigation systems. Forexample, where a procedure is being performed on a patient at a remotenavigation system by a physician at the remote navigation system, aphysician at the Control Center may monitor the procedure beingperformed at the remote navigation system, and even participate. Fromthe Control Center, a physician possessing expertise with suchnavigation systems can monitor several procedures being performedremotely at several remote navigation systems. The Control Center may beconfigured to receive user input data from each remote navigation systemthrough the switch, and to convert the data stream to a set ofpre-determined script commands corresponding to medical device controlfor the each remote navigation system. The Control Center may alsocomprise a local user interface means for controlling a remotenavigation system, where the Control Center's interface means overridesthe user input data received from the remote navigation system andprovides medical device control commands to the remote navigationsystem. If the expert physician at the Control Center determines that acertain procedure needs his assistance, the expert physician may useinterface means at the Control Center to control the remote navigationsystem, and override the physician at the remote navigation system.Thus, each patient at each remote navigation system can receive thebenefit of an expert physician supervising the medical procedure beingperformed.

In one embodiment, the Control Center has one set of displays for eachremote navigation system that is to be controlled from there. Thedifferent displays are set up as part of an operating console withinwhich the physician performing the procedures sits. In addition to atleast one display corresponding to each remote navigation system, thereis at least one set of interface input devices (such as a computermouse, keyboard, joystick, etc.) associated with each remote navigationsystem. Each interface input device is connected to its correspondingremote navigation system computer through a standard USB cable possiblyby routing through at least one USB Switch unit and cable extensions ifextended lengths are required due to larger physical separations. Theseinput devices can be used to steer the medical device. FIG. 1 shows aMulti-system application 20 having a Control Center 22 from which remotenavigation systems 24, 26, 28, 30, 32, 34 and 36 are controlled forperforming multiple simultaneous interventional medical procedures. Eachnavigation system comprises a patient support 42, one or more magneticfield sources 44, and other user input and navigational display consolesfor use by a physician. One or more of these remote systems could bedistant from the Control Center. Systems 22-34 are connected to displaysand interface input devices 24-36 in the Control Center by means oflinks 40.

In the case of a magnetic navigation system, a magnetic field can bedirected suitably and applied to steer the device. In the case of amechanical remote navigation system, the tension in various pull wirescan be controlled or various servo motors can be controlled to suitablyactuate and steer the device. Other schemes of remote actuation arefamiliar to those skilled in the art and the teachings here apply to anysuch remote actuation scheme.

In an alternate, second embodiment, the Control Center employs a singleset of displays and interface input devices. In this case, a switch unitfor system selection, possibly specially customized, is used by the userto select the remote navigation system that the user currently desiresto control. The switch unit for system selection has a knob or slidingbar control and a set of markings labeling the different remotenavigation systems connected to it. The interface input devices areconnected to the switch unit for system selection. Given a particularsystem selection set by the user, the switch unit routes the inputs fromthe set of interface input devices to that particular remote navigationsystem computer through a suitable USB cable connection. Likewise, thevarious system displays feed into the switch unit for system selection.Depending on the system selected, the corresponding data for the set ofdisplays of the selected remote navigation system are fed on to theactual set of displays in the Control Center. Thus in this embodiment,the user works from a single set of displays and directly controls theremote navigation system that he/she has currently selected. Clutter inthe Control Center is thereby reduced in this embodiment since there isonly a single set of displays and interface input devices.

In a third embodiment that augments the first embodiment, audio datafrom the procedure rooms also feed into as many speakers and microphonesin the Control Center for two-way audio communication. The microphone inthe Control Center that is associated with each remote navigation systemis endowed with a button so that the user can choose to speak into themicrophone for a given remote navigation system for purposes of verballyaddressing the corresponding procedure room.

In a fourth embodiment that augments the second embodiment with a singleset of displays, the switch unit for system selection also acceptsinputs from the audio channels for each remote navigation system. Systemselection on the switch unit automatically routes the two-way audiosignals from the appropriate procedure room to the Control Center. Inthis manner, two-way audio communication between the procedure room ofthe currently selected remote navigation system and the Control Centeris established. If a different procedure room other than the oneselected desires to establish audio communication (by depressing abutton to indicate the corresponding microphone is enabled), theassociated button press signal is detected by the switch unit for systemselection and a corresponding signal is passed along as a periodicaudible tone to a speaker installed in the Control Center for thispurpose. Thus an indication that communication is awaited by a procedureroom different from the one currently selected is passed along to theuser in the Control Center.

In a fifth embodiment, in addition to some of the features in theprevious embodiments described, the remote navigation system beingcontrolled from the Control Center could be located at a distant anddistinct clinical site. In this case, a dedicated cable channel,satellite channel or a direct Copper or optical link is used to providesystem command transmissions from the Control Center to theremote/distant site and data, confirmation messages and display detailsin the reverse direction. It is desirable for safety reasons that thisbe a dedicated, secure link. If for technical reasons security is notguaranteed, then any data or commands that are exchanged are encryptedbefore being sent. In this case there is additionally a computer in theControl Center. The key for the encryption is established uponinitiation of the connection between the Control Center computer and theremote navigation system computer at the distant site according tostandard public key encryption protocols. Whereas previously data andcommands were exchanged from the Control Center and the remotenavigation system by means of USB connections, in the case of thepresent embodiment, USB signals are not directly exchanged. Rather, theControl Center computer converts the USB data to a pre-determined datastream format before encryption and transmission as system commands. Thedata is received by a reception computer at the remote navigation systemsite that could be one of the existing remote navigation systemcomputers, or an additional one that exists to accept the incomingencrypted data, decrypts the data, converts the data from thepre-determined data stream format to USB data (thereby functioning as anUSB emulator), and then passes it on to the remote navigation systemcontrol computer at the distant site via a local, standard USB cablelink. In this manner the commands are again provided as standard systeminterface inputs such as joystick movements, mouse click events at aparticular location on the GUI, etc. at the distant site.

In a sixth embodiment, the data from the reception computer could,instead of being converted to USB data, be sent to the remote navigationsystem control computer in the form of script commands that executecertain processes on the latter that serve to implement the desired useractions in order to control the remote navigation system and the medicaldevice used in the procedure. Such actions could include, for instancein the case of a magnetic navigation system, clicking on a GUI to changeexternal magnetic fields, advance or retract the device, mark anatomicalreference locations. In the case of a mechanically actuated remotenavigation system, these actions could include requesting actuationsthat increase or decrease deflection of the medical device, advance orretract a medical device, and other typical catheter manipulations.

FIG. 2 shows a schematic of a method of command data transmission from aMulti-System Control Center for execution at an on-site remotenavigation system shown at 134. The process described in the latter twoembodiments is schematically represented in this Figure. In at least oneembodiment, a method is provided for performing multiple simultaneousremote medical interventional procedures on any of a set of remotenavigation systems from a single, physically distant Control Center. Themethod includes the step of displaying information that is transmittedover a link from any of the remote navigation systems to the ControlCenter. The method also includes receiving or accepting user input atstep 102, into the Control Center computer at step 106, and establishingan encryption key at step 110 between the Control Center computer andthe remote navigation system computer 130. At step 106, the ControlCenter converts the user input data to a pre-determined data streamformat, and then encrypts this data on the Control Center computer atstep 110. At step 114, the Control Center further transmits theencrypted data over a link from the Control Center computer to acomputer at the remote navigation system site. The transmitted datareceived by the remote systems at step 118 is then decrypted at step122, and then converted at step 126 to a set of predetermined scriptcommands corresponding to medical device control and user interactionelements. The decrypted pre-determined script commands may then betransmitted at step 130 to the remote navigation system control computervia a local, standard Ethernet link. Alternatively, the script commandsmay be transmitted to the remote navigation system control computer viaa local, standard USB cable link.

In some of the latter embodiments, the reception computer also sendsdata such as display data to the Control Center computer. For efficiencyreasons, it would only send updates or changes to currently existingdisplays to the Control Center computer. Since only system commands andincremental changes to existing displays are transmitted over thededicated/secure link, this is an efficient methodology for systemcommunication between the Control Center and the remote navigation siteand provides a good platform for real-time control of a distant remotenavigation system from the Control Center, regardless of where these arelocated physically.

In the various embodiments, a local over-ride option at each remotenavigation site is implemented as an additional safety feature in casetransmission from the Control Center fails for any reason, or isintermittent, or if the clinical situation in the procedure roomwarrants this. The local over-ride could be implemented for instance asa fail-safe button that when pressed remains visibly depressed/pusheddown, possibly including the display of messages on the User Interfaceindicating that local over-ride is in effect. Such messages would alsobe attempted to be transmitted back to the Control Center. The localover-ride would take precedence over any commands issued from theControl Center.

The above teachings clearly could be applied to a variety of remotelyactuated navigation systems in interventional medicine, whether theactuation scheme is magnetic, mechanical, electrostrictive, hydraulic,or any other form familiar to those skilled in the art. Likewise, whilespecific embodiments are detailed above, variations and alternativeembodiments dictated by convenience and ease of implementation arewithin the scope of the teachings contained herein, and limited only bythe appended claims.

The description of the invention is merely exemplary in nature and,thus, variations that do not depart from the gist of the invention areintended to be within the scope of the invention. Such variations arenot to be regarded as a departure from the spirit and scope of theinvention.

1-11. (canceled)
 12. A method for performing multiple simultaneousremote medical interventional procedures on any of a set of remotenavigation systems from a single, physically distant Control Center, themethod comprising the steps of: displaying information, transmitted overa link from any of the remote navigation systems, in the Control Center;accepting user input into a Control Center computer; establishing anencryption key between the Control Center computer and the remotenavigation system computer; converting the user input data to apre-determined data stream format and then encrypting this data on theControl Center computer; transmitting the encrypted data over a linkfrom the Control Center computer to a computer at the remote navigationsystem site; decrypting the received data and converting it toUSB-format data, and transmitting the USB-format data to the remotenavigation system control computer via a local, standard USB cable link.13. A method for performing multiple simultaneous remote medicalinterventional procedures on any of a set of remote navigation systemsfrom a single, physically distant Control Center, the method comprisingthe steps of: displaying information, transmitted over a link from anyof the remote navigation systems, in the Control Center; accepting userinput into a Control Center computer; establishing an encryption keybetween the Control Center computer and the remote navigation systemcomputer; converting the user input data to a pre-determined data streamformat and then encrypting this data on the Control Center computer;transmitting the encrypted data over a link from the Control Centercomputer to a computer at the remote navigation system site; decryptingthe received data and converting it to a set of pre-determined scriptcommands corresponding to medical device control and user interactionelements, and transmitting the script commands to the remote navigationsystem control computer via a local, standard Ethernet link.
 14. Themethod of claim 12, where the link between the Control Center computerand the remote navigation system computer is a physical connection usingCopper conductors.
 15. The method of claim 12, where the link betweenthe Control Center computer and the remote navigation system computer isa physical connection using optical fibers.
 16. The method of claim 12,where the link between the Control Center computer and the remotenavigation system computer is a wireless connection employing a portionof the electromagnetic spectrum for communication.
 17. The method ofclaim 13, where the link between the Control Center computer and theremote navigation system computer is a physical connection using Copperconductors.
 18. The method of claim 13, where the link between theControl Center computer and the remote navigation system computer is aphysical connection using optical fibers.
 19. The method of claim 13,where the link between the Control Center computer and the remotenavigation system computer is a wireless connection employing a portionof the electromagnetic spectrum for communication.
 20. The method ofclaim 13, where the script commands include changing medical device tiporientation.
 21. The method of claim 13, where the script commandsinclude advancement/retraction of the medical device.
 22. The method ofclaim 12, where at least one of the remote navigation systems is amagnetic navigation system.
 23. The method of claim 12, where at leastone of the remote navigation systems is a mechanically actuatednavigation system.
 24. The method of claim 13, where at least one of theremote navigation systems is a magnetic navigation system.
 25. Themethod of claim 13, where at least one of the remote navigation systemsis a mechanically actuated navigation system.
 26. The method of claim12, where each of the remote navigation systems incorporates a localover-ride option with which system control from the Control Center couldbe disabled.
 27. The method of claim 13, where each of the remotenavigation systems incorporates a local over-ride option with whichsystem control from the Control Center could be disabled.
 28. The systemof claim 1, where each of the remote navigation systems incorporates alocal over-ride option with which system control from the Control Centercould be disabled.
 29. The system of claim 2, where each of the remotenavigation systems incorporates a local over-ride option with whichsystem control from the Control Center could be disabled.